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MELSERVO-J4 Servo Amplifier

(2/6/2017)

MR-J4 Servo Motors and Amplifiers Overview

The MR-J4 provides the highest power, performance, and flexibility in the Mitsubishi Electric lineup and is available from 50W-55KW. Additional features include advanced one-touch auto tuning and advanced vibration suppression control II functions. The MR-J4 motors have the same flange sizes and use the same power encoder and brake cables as the MR-J3 for easy migration from the previous generation of servo amplifiers. The MR-J4 is easily setup and sized with M-Size sizing software and MR-Configurator2 configuration software.

X = Compatible
- = Not compatible

Type (*6)

Number of
Control Axes

Power Supply

Rated Output (kW)
(*1, *4)

Interface

SSCNET III / H

CC-Link IE Field

Pulse Train

Analog Voltage

RS-422 Multi-Drop

EtherCAT®

EtherNet/IP

PROFINET®

CC-Link IE Field Interface

MR-J4-GF-RJ

1 axis

3-Phase

200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7

-

X

-

-

-

-

-

-

3-Phase

400VAC

0.6, 1, 2, 3.5, 5, 7

-

X

-

-

-

-

-

-

SSCNET III/H Interface

MR-J4-B(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

-

-

-

-

-

-

-

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

-

-

-

-

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

X

-

-

-

-

-

-

-

MR-J4W2-B

2 axes

3-Phase 200VAC

0.2, 0.4, 0.75, 1

X

-

-

-

-

-

-

-

MR-J4W3-B

3 axes

3-Phase 200VAC

0.2, 0.4

X

-

-

-

-

-

-

-

MR-J4W2-0303B6

2 axes

24VDC/
48VDC

10W, 20W, 30W

X

-

-

-

-

-

-

-

General Purpose Interface

MR-J4-A(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

-

-

X

X

X

-

-

-

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

-

-

X

X

X

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

-

-

X

X

X

-

-

-

MR-J4-03A6-RJ

1 axis

24VDC/
48VDC

10W, 20W, 30W

-

-

X

X

-

-

-

-

Multi-Network Interface

MR-J4-TM

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

-

-

-

-

-

X

X

X

1-Phase 100VAC

0.1, 0.2, 0.4

-

-

-

-

-

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

-

-

-

-

-

X

X

X


Type (*6)

Number of
Control Axes

Power Supply

Rated Output (kW)
(*1, *4)

Control Mode

Position

Speed

Torque

Positioning Function

Fully Closed Loop Control (*2)

CC-Link IE Field Interface

MR-J4-GF-RJ

1 axis

3-Phase

200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7

X

X

X

X

X

3-Phase

400VAC

0.6, 1, 2, 3.5, 5, 7

X

X

X

X

X

SSCNET III/H Interface

MR-J4-B(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

X

-

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

-

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

X

X

X

-

X

MR-J4W2-B

2 axes

3-Phase 200VAC

0.2, 0.4, 0.75, 1

X

X

X

-

X

MR-J4W3-B

3 axes

3-Phase 200VAC

0.2, 0.4

X

X

X

-

-

MR-J4W2-0303B6

2 axes

24VDC/
48VDC

10W, 20W, 30W

X

X

X

-

-

General Purpose Interface

MR-J4-A(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

X

X
(*3)

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X
(*3)

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

X

X

X

X
(*3)

X

MR-J4-03A6-RJ

1 axis

24VDC/
48VDC

10W, 20W, 30W

X

X

X

X

-

Multi-Network Interface

MR-J4-TM

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X


Type (*6)

Number of
Control Axes

Power Supply

Rated Output (kW)
(*1, *4)

Compatible Motor Series

HG-KR

HG-MR

HG-SR

HG-JR

HG-RR

HG-UR

HG-AK

LM-H3 (*5)

LM-F (*5)

LM-K2 (*5)

LM-U2 (*5)

TM-RFM

CC-Link IE Field Interface

MR-J4-GF-RJ

1 axis

3-Phase

200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7

X

X

X

X

X

X

-

X

X

X

X

X

3-Phase

400VAC

0.6, 1, 2, 3.5, 5, 7

-

-

X

X

-

-

-

-

X

-

-

-

SSCNET III/H Interface

MR-J4-B(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

-

-

-

-

-

X

-

X

X

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X

X

X

-

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

-

-

X

X

-

-

-

-

X

-

-

-

MR-J4W2-B

2 axes

3-Phase 200VAC

0.2, 0.4, 0.75, 1

X

X

X

X

-

X

-

X

-

X

X

X

MR-J4W3-B

3 axes

3-Phase 200VAC

0.2, 0.4

X

X

-

-

-

-

-

X

-

X

X

X

MR-J4W2-0303B6

2 axes

24VDC/
48VDC

10W, 20W, 30W

-

-

-

-

-

-

X

-

-

-

-

-

General Purpose Interface

MR-J4-A(-RJ)

1 axis

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

-

-

-

-

-

X

-

X

X

X

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37

X

X

X

X

X

X

-

X

X

X

X

X

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22, 30, 37, 45, 55

-

-

X

X

-

-

-

-

X

-

-

-

MR-J4-03A6-RJ

1 axis

24VDC/
48VDC

10W, 20W, 30W

-

-

-

-

-

-

X

-

-

-

-

-

Multi-Network Interface

MR-J4-TM

1 axis

3-Phase 200VAC

0.1, 0.2, 0.4, 0.6, 0.75, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

X

-

X

X

X

X

X

1-Phase 100VAC

0.1, 0.2, 0.4

X

X

-

-

-

-

-

-

-

-

-

-

3-Phase 400VAC

0.6, 1, 2, 3.5, 5, 7, 11, 15, 22

X

X

X

X

X

X

-

-

X

-

-

-

Notes:
1. The listed are the rated output of the servo amplifier. For the compatible Servo Motor capacities, refer to MR-J4 Brochure for more details.
2. MR-J4-B/A servo amplifier is compatible with two-wire type serial linear encoder. For four-wire type serial and pulse train interface (A/B/Z-phase differential output type) linear encoders, use MR-J4-B-RJ/A-RJ servo amplifier.
3. Positioning function is available only with MR-J4-A-RJ.
4. 30 kW or lager is drive unit. One unit of converter unit is required for each drive unit.
5. MR-J4-B/A servo amplifier is compatible with two-wire type and four-wire type serial linear encoders. For pulse train interface (A/B/Z-phase differential output type) linear encoder, use MR-J4-B-RJ/A-RJ servo amplifier.
6. Some functions are available only with the servo amplifier with specific versions. Refer to relevant Servo Amplifier Instruction Manual for detail.

MR-J4-B-RJ

MRJ4B_Overview

MR-J4-A-RJ

MRJ4A_Overview

1-Axis Servo Amplifier Selection
(Example Part No. = MR-J4-10B-ED)

MRJ41AxisAmplifierSelection2015
Notes:
1. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. When using the servo amplifier without a dynamic brake, the Servo Motor does not stop immediately at alarm occurrence or power failure. Take measures to ensure safety on the entire system. When the following Servo Motors are used, an electronic dynamic brake may operate at alarm occurrence. HG-KR053, HG-KR13, HG-KR23, HG-KR43, HG-MR053, HG-MR13, HG-MR23, HG-MR43, HG-SR51, and HG-SR52 Disable the electronic dynamic brake by setting the following parameter to "_ _ _ 2." For MR-J4-B/MR-J4-B-RJ/MR-J4-B-RJ010: [Pr. PF06] For MR-J4W_-B: Disable the electronic dynamic brake for all axes with [Pr. PF06] For MR-J4-A/MR-J4-A-RJ: [Pr. PF09] In addition, when [Pr. PA04] is set to "2 _ _ _" (initial value), the Servo Motor may be decelerated to a stop forcibly at alarm occurrence. The forced stop deceleration function will be disabled by setting [Pr. PA04] to "0 _ _ _."
2. Servo amplifiers of 0.75 kW or smaller are available for 1-phase 200 VAC.
3. Servo amplifiers of 0.6 kW, and 1 kW or larger are available for 3-phase 400 VAC.<
4. Available in 11 kW to 22 kW servo amplifier. A regenerative resistor (standard accessory) is not enclosed.
5. Servo amplifiers of 0.4 kW or smaller are available.
6. Contact your local sales office for the DC power input type servo amplifier.

MR-J4W2-B

MRJ4W2B_Overview

MR-J4W3-B

MRJ4W3B_Overview

Multi-Axis Servo Amplifier Selection
(Example Part No. = MR-J4W2-22B-ED)

MRJ4MultiAxisAmplifierSelection2015
Notes:
1. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. When using the servo amplifier without a dynamic brake, the Servo Motor does not stop immediately at alarm occurrence or power failure. Take measures to ensure safety on the entire system. When the following Servo Motors are used, an electronic dynamic brake may operate at alarm occurrence. HG-KR053, HG-KR13, HG-KR23, HG-KR43, HG-MR053, HG-MR13, HG-MR23, HG-MR43, HG-SR51, and HG-SR52 Disable the electronic dynamic brake by setting the following parameter to "_ _ _ 2." For MR-J4-B/MR-J4-B-RJ/MR-J4-B-RJ010: [Pr. PF06] For MR-J4W_-B: Disable the electronic dynamic brake for all axes with [Pr. PF06] For MR-J4-A/MR-J4-A-RJ: [Pr. PF09] In addition, when [Pr. PA04] is set to "2 _ _ _" (initial value), the Servo Motor may be decelerated to a stop forcibly at alarm occurrence. The forced stop deceleration function will be disabled by setting [Pr. PA04] to "0 _ _ _."
2. A-axis, B-axis, and C-axis indicate names of axes of the multi-axis servo amplifier. The C-axis is available for the 3-axis servo amplifier.
3. Contact your local sales office for the DC power input type servo amplifier.

MR-J4-GF-RJ

MRJ4GFRJ_System_Configuration_Line_Art

1-Axis Servo Amplifier Selection
(Example Part No. = MR-J4-60GF-RJ)

MRJ4GFRJ_Part_Configuration
Notes:
1. Servo amplifiers of 0.75 kW or smaller are available for 1-phase 200 VAC.
2. Servo amplifiers of 0.6 kW, and 1 kW or larger are available for 3-phase 400 VAC.

MR-J4-TM

MRJ440TM_System_Configuration_Line

1-Axis Servo Amplifier Selection
(Example Part No. = MR-J4-10TM-ECT)

MRJ4MTAmplifierSelection2016
Notes:
1. Servo amplifiers of 0.75 kW or smaller are available for 1-phase 200 VAC.
2. Servo amplifiers of 0.6 kW, and 1 kW or larger are available for 3-phase 400 VAC.
3. Servo amplifiers of 0.4 kW or smaller are available.

Drive Unit Model Designation (*2)

Drive_Unit_Model

Converter Unit Model Designation (*2)

Converter_Unit_Model
Notes:
1. Positioning mode is available with MR-J4-DU_A_-RJ drive unit.
2. One unit of converter unit is required for each drive unit.

MR-J4-GF/MR-J4-GF-RJ (CC-Link IE Field Network Interface Specifications (200V)

Servo Amplifier Model
MR-J4-_(-RJ)

10GF

20GF

40GF

60GF

70GF

100GF

200GF

350B

500GF

700GF

Stocked Item

S

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

1.1

1.5

2.8

3.2

5.8

6.0

11.0

17.0

28.0

37.0

Main Circuit Power Supply

Voltage/Frequency AC Input (*1)

3-phase or 1-phase 200 VAC to 240 VAC, 50 Hz/60 Hz

3-phase or 1-phase 200 VAC to 240 VAC, 50 Hz/60 Hz (*36)

3-phase 200 VAC to 240 VAC,
50 Hz/60 Hz

Voltage/Frequency DC Input (*1, *38)

283 VDC to 340 VDC

Rated Current (A) (*25)

0.9

1.5

2.6

3.2 (*8)

3.8

5.0

10.5

16.0

21.7

28.9

Permissible Volt. Fluctuation AC Input

3-phase or 1-phase 170 VAC to 264 VAC

3-phase or 1-phase 170 VAC to 264 VAC (*36)

3-phase 170 VAC to 264 VAC

Permissible Volt. Fluctuation DC Input (*38)

241 VDC to 374 VDC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency AC Input

1-phase 200 VAC to 240 VAC, 50 Hz/60 Hz

Voltage/Frequency DC Input (*38)

283 VDC to 340 VDC

Rated Current (A)

0.2

0.3

Permissible Volt. Fluctuation AC Input

1-phase 170 VAC to 264 VAC

Permissible Volt. Fluctuation DC Input (*38)

241 VDC to 374 VDC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method (*8)

Sine-wave PWM control/current control method

Permissible Regenerative Power

Built-in Regenerative Resistor
(*2, *3) (W)

-

10

10

10

20

20

100

100

130

170

Dynamic Brake

Built-in (*4)

CC-Link IE Field Communication Cycle (*10)

0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Positioning Mode

Point table method

Fully Closed Loop Control

MR-J4-GF

Two-wire type communication method

MR-J4-GF-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-GF

Mitsubishi high-speed serial communication

MR-J4-GF-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Functions

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, scale measurement function, super trace control, lost motion compensation

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Safety Function

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB (*34)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

MTTFd ≥ 100 years (314a)

Diagnostic Coverage (DC)

DC = Medium, 97.6 (%)

Probability of Dangerous Failure Per Hour (PFH)

PHF = 6.4 x 10-9 [1/h]

Compliance to Global Standards

Refer to "Conformity with Global Standards and Regulations" in the MR-J4 Servo Manual

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

3-phase Power Input

Possible (*6)

Not possible

1-phase Power Input

Possible (*6)

Not possible

-

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

Operation/storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

2000 m or less above sea level (*37)

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.0

1.0

1.0

1.0

1.4

1.4

2.1

2.3

4.0

6.2

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-GF4/MR-J4-GF4-RJ (CC-Link IE Field Network Interface) Specifications (400V)

Servo Amplifier Model
MR-J4-_(-RJ)

60GF4

100GF4

200GF4

350GF4

500GF4

700GF4

Stocked Item

S

S

S

S

S

S

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

1.5

2.8

5.4

8.6

14.0

17.0

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

1.4

2.5

5.1

7.9

10.8

14.4

Permissible Voltage Fluctuation

3-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply Input

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

0.1

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method

Sine-wave PWM control/current control method

Permissible Regenerative Power

Built-in Regenerative Resistor
(*2, *3) (W)

15

15

100

100

130 (*18)

170 (*18)

Dynamic Brake

Built-in (*4)

CC-Link IE Field Communication Cycle (*10)

0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Positioning Mode

Point table method

Fully Closed Loop Control

MR-J4-GF4

Two-wire type communication method

MR-J4-GF4-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-GF4

Mitsubishi high-speed serial communication

MR-J4-GF4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Functions

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, scale measurement function, super trace control, lost motion compensation

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Safety Function

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB (*34)

EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

MTTFd ≥ 100 years (314a)

Diagnostic Coverage (DC)

DC = Medium, 97.6 (%)

Probability of Dangerous Failure Per Hour (PFH)

PHF = 6.4 x 10-9 [1/h]

Compliance to Global Standards

Refer to "Conformity with Global Standards and Regulations" in the MR-J4 Servo Manual

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

Not Possible

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

Operation/storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

2000 m or less above sea level (*37)

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.7

1.7

2.1

3.6

4.3

6.5

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-B(1)/MR-J4-B(1)-RJ (SSCNET III/H Interface) Specifications (200V/100V)

Servo Amplifier Model
MR-J4-_(-RJ)

10B

20B

40B

60B

70B

100B

200B

350B

500B

700B

11KB

15KB

22KB

10B1

20B1

40B1

Stocked Item

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

1.1

1.5

2.8

3.2

5.8

6.0

11.0

17.0

28.0

37.0

68.0

87.0

126.0

1.1

1.5

2.8

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase or 1-phase 200 VAC to 240 VAC,
50 Hz/60 Hz

3-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to120VAC, 50Hz/60Hz

Rated Current (A) (*15)

0.9

1.5

2.6

3.2 (*8)

3.8

5.0

10.5

16.0

21.7

28.9

46.0

64.0

95.0

3.0

5.0

9.0

Permissible Voltage Fluctuation

3-phase or 1-phase 170 VAC to 264 VAC

3-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120VAC, 50Hz/60Hz

Rated Current (A)

0.2

0.3

0.4

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

30

Interface Power Supply

24 VDC ±10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method (*8)

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor
(*2, *3) (W)

-

10

10

10

20

20

100

100

130

170

-

-

-

-

10

10

External Regenerative Resistor (W)(Standard Accessory) (*2, 3, 11, 12)

-

-

-

-

-

-

-

-

-

-

500

(800)

850

(1300)

850

(1300)

-

-

-

Dynamic Brake

Built-in (*4)

External option (*13)

Built-in (*4)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, master-slave operation function (*14), scale measurement function (*14), J3 compatibility mode, super trace control (*16), lost motion compensation (*16)

Fully Closed Loop Control

MR-J4-B(1)

Two-wire type communication method (*9)

MR-J4-B(1)-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-B(1)

Mitsubishi high-speed serial communication

MR-J4-B(1)-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Safety Function (*10)

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF - energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 x 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Natural cooling,

open (IP20)

Close Mounting

Possible (*6)

Not possible

Possible (*6)

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

90%RH maximum (non-condensing), storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

0.8

0.8

1.0

1.0

1.4

1.4

2.1

2.3

4.0

6.2

13.4

13.4

18.2

0.8

0.8

1.0

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-DU_B/MR-J4-DU_B-RJ (SSCNET III/H Interface) Specifications (200V)

Model Number MR-J4-_(-RJ)

DU30KB

DU37KB

Stocked Item

-

Compatible Converter Unit Model

MR-CR55K (*17)

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

174

204

Main Circuit Power Supply Input

Main circuit power is supplied from the converter unit to the drive unit (*17)

Control Circuit Power Supply Input

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50 Hz/60 Hz

Rated Current (A)

0.3

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

45

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method

Sine-wave PWM control/current control method

Dynamic Brake

External option (*13)

SSCNET III/H Command Communication Cycle

0.222 ms, 0.444 ms, 0.888 ms (*10)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Fully Closed Loop Control

MR-J4-DU_B

Two-wire type communication method

MR-J4-DU_B-RJ

Two-wire/four-wire type communication method

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, master-slave operation function, scale measurement function, J3 compatibility mode, super trace control, lost motion compensation

Load-Side Encoder Interface

MR-J4-DU_B

Mitsubishi high-speed serial communication

MR-J4-DU_B-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Protective Functions

Overcurrent shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Functional Safety

STO (IEC/EN 61800-5-2)

Safety

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum

Mean Time to Dangerous

Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 x 10-10 [1/h]

Compliance To Standards

Refer to "Conformity with Global Standards and Regulations" in the User's Manual

Structure (IP Rating)

Force cooling, open (IP20) (*5)

Close Mounting

Not possible

Environment

Ambient Temperature

Operation: 0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

Operation/storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

21

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-_TM 200V

Servo Amplifier Model MR-J4-

10TM

20TM

40TM

60TM

70TM

100TM

200TM

350TM

500TM

700TM

11KTM

15KTM

22KTM

Stocked Item

S

S

S

S

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

1.1

1.5

2.8

3.2

5.8

6.0

11.0

17.0

28.0

37.0

68.0

87.0

126.0

Output Frequency

Less than 590 Hz

Output Frequency Accuracy

±0.01%

Main Circuit Power Supply Input

Voltage/
Frequency

At AC Input

3-phase or 1-phase 200 VAC to 240 VAC,
50 Hz/60 Hz

3-phase or 1-phase
200 VAC to 240 VAC, 50 Hz/60 Hz (*7)

3-phase 200 V AC to 240 VAC, 50 Hz/60 Hz

At DC Input (*32)

283 VDC to 340 VDC

Rated Current (*25) (A)

0.9

1.5

2.6

3.2 (*31)

3.8

5.0

10.5

16.0

21.7

28.9

46.0

64.0

95.0

Permissible Voltage Fluctuation

At AC Input

3-phase or 1-phase 170 VAC to 264 VAC

3-phase or 1-phase 170 VAC to 264 VAC (*32)

3-phase 170 VAC to 264 VAC

At DC Input (*32)

241 VDC to 374 VDC

Permissible Frequency Fluctuation

Within ±5%

Power Supply Capacity (kVA)

Refer to User's Manual

Inrush Current (A)

Refer to User's Manual

Control Circuit Power Supply Input

Voltage/
Frequency

At AC Input

1-phase 200 VAC to 240 VAC, 50 Hz/60 Hz

At DC Input (*32)

283 VDC to 340 VDC

Rated Current (A)

0.2

0.3

Permissible Voltage Fluctuation

At AC Input

1-phase 170 VAC to 264 VAC

At DC Input (*32)

241 VDC to 374 VDC

Permissible Frequency Fluctuation

Within ±5%

Power Consumption (W)

30

45

Inrush Current (A)

Refer to User's Manual

Interface Power Supply

Voltage

24 VDC ± 10%

Current Capacity (A)

0.3 (including CN8 connector signals) (*30)

Control Method

Sine-wave PWM control, current control method

Dynamic Brake

Built-in

External (*13, *35)

Fully Closed Loop Control

Compatible

Load-Side Encoder Interface

Mitsubishi high-speed serial communication

Communication Function

USB: connection to a personal computer or others (MR Configurator2-compatible)

Encoder Output Pulses

Compatible (A/B/Z-phase pulse)

Analog Monitor

Two channels

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, and linear servo control error protection

Safety Function

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB (*34)

EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2 SIL 3

Response Performance

8 ms or less (STO input off – energy shut off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz; Test pulse off time: Up to 1 ms

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

6.40 x 10-9 [1/h]

Compliance to Standards

CE: LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1, EN 61800-5-2, EN 62061; UL 508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting (*6)

3-Phase Power Supply Input

Possible

Not possible

1-Phase Power Supply Input

Possible

Not possible

-

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

90%RH maximum (non-condensing), storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

2000 m or less above sea level (*33)

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.0

1.4

1.4

2.1

2.3

4.0

6.2

13.4

18.2

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-B4-RJ (SSCNET III/H Interface) Specifications (400V)

Servo Amplifier Model
MR-J4-_(-RJ)

60B4

100B4

200B4

350B4

500B4

700B4

11KB4

15KB4

22KB4

Stocked Item

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

1.5

2.8

5.4

8.6

14.0

17.0

32.0

41.0

63.0

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

1.4

2.5

5.1

7.9

10.8

14.4

23.1

31.8

47.6

Permissible Voltage Fluctuation

3-phase 232 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50/60 Hz

Rated Current (A)

0.1

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

Interface Power Supply

24 VDC ±10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method (*11)

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor
(*2, *3) (W)

15

15

100

100

130 (*11)

170 (*11)

-

-

-

External Regenerative Resistor (W)(Standard Accessory) (*2, *3, *11, *12)

-

-

-

-

-

-

500

(800)

850

(1300)

850

(1300)

Dynamic Brake

Built-in (*4)

External option (*13)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Fully Closed Loop Control

MR-J4-B4

Two-wire type communication method

MR-J4-B4-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-B4

Mitsubishi high-speed serial communication

MR-J4-B4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, master-slave operation function (*14), scale measurement function (*14), J3 compatibility mode, super trace control (*16), lost motion compensation (*16)

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Safety Function (*13)

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CE

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF - energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

Not Possible

Not possible

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.7

1.7

2.1

3.6

4.3

6.5

13.4

13.4

18.2

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-_TM 400V

Servo Amplifier Model MR-J4-

60TM4

100TM4

200TM4

350TM4

500TM4

700TM4

11KTM4

15KTM4

22KTM4

Stocked Item

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

1.5

2.8

5.4

8.6

14.0

17.0

32.0

41.0

63.0

Output Frequency

Less than 590 Hz

Output Frequency Accuracy

±0.01%

Main Circuit Power Supply Input

Voltage/Frequency

3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz

Rated Current (A)

1.4

2.5

5.1

7.9

10.8

14.4

23.1

31.8

47.6

Permissible Voltage Fluctuation

3-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

Within ±5%

Power Supply Capacity (kVA)

Refer to User's Manual

Inrush Current (A)

Refer to User's Manual

Control Circuit Power Supply Input

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

0.1

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

Within ±5%

Power Consumption (W)

30

45

Inrush Current (A)

Refer to User's Manual

Interface Power Supply

Voltage

24 VDC ± 10%

Current Capacity (A)

0.3 (including CN8 connector signals) (*30)

Control Method

Sine-wave PWM control, current control method

Dynamic Brake

Built-in

External (*13, *35)

Fully Closed Loop Control

Compatible

Load-Side Encoder Interface

Mitsubishi high-speed serial communication

Communication Function

USB: connection to a personal computer or others (MR Configurator2-compatible)

Encoder Output Pulses

Compatible (A/B/Z-phase pulse)

Analog Monitor

Two channels

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, and linear servo control error protection

Safety Function

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB (*34)

EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2 SIL 3

Response Performance

8 ms or less (STO input off — energy shut off)

Test Pulse Input (STO)

Test pulse interval: 1 Hz to 25 Hz; Test pulse off time: Up to 1 ms

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

6.40 x 10-9 [1/h]

Compliance to Standards

CE: LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1, EN 61800-5-2, EN 62061; UL 508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

Not Possible

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

90%RH maximum (non-condensing), storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

2000 m or less above sea level (*33)

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.7

2.1

3.6

4.3

6.5

13.4

18.2

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-DU_B4/MR-J4-DU_B4-RJ (SSCNET III/H Interface) Specifications (400V)

Model Number MR-J4-_(-RJ)

DU30KB4

DU37KB4

DU45KB4

DU55KB4

Stocked Item

-

-

-

-

Compatible Converter Unit Model

MR-CR55K4 (*17)

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

87

102

131

143

Main Circuit Power Supply Input

Main circuit power is supplied from the converter unit to the drive unit (*17)

Control Circuit

Power Supply

Input

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

45

Interface Power Supply

24 V DC ± 10% (required current capacity: 0.3 A (including CN8 connector signals))

Control Method

Sine-wave PWM control/current control method

Dynamic Brake

External option (*13)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Fully Closed Loop Control

MR-J4-DU_B4

Two-wire type communication method

MR-J4-DU_B4-RJ

Two-wire/four-wire type communication method

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, master-slave operation function, scale measurement function, J3 compatibility mode, super trace control, lost motion compensation

Load-Side Encoder Interface

MR-J4-DU_B4

Mitsubishi high-speed serial communication

MR-J4-DU_B4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Protective Functions

Overcurrent shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Functional Safety

STO (IEC/EN 61800-5-2)

Safety

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum

Mean Time to Dangerous

Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 x 10-10 [1/h]

Compliance To Standards

Refer to "Conformity with Global Standards and Regulations" in the User's Manual

Structure (IP Rating)

Force cooling, open (IP20) (*5)

Close Mounting

Not possible

Environment

Ambient Temperature

Operation: 0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

Operation/storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

16

19

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-CR Converter Unit Specifications (200V/400V)

Converter Unit Model

MR-CR55K

MR-CR55K4

Stocked Item

-

-

Output

Rated Voltage

270 VDC to 324 VDC

513 VDC to 648 VDC

Rated Current (A)

215.9

113.8

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase 200 VAC to 240 V AC, 50 Hz/60 Hz

3-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

191.3

100.7

Permissible Voltage Fluctuation

3-phase 170 VAC to 264 VAC

3-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50 Hz/60 Hz

1-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

0.3

0.2

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

45

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.15 A)

Rated Output (kW)

55

Regenerative Power (When Regenerative Option is Used)

1300 W (one unit of MR-RB139) 3900 W (three units of MR-RB137)

1300 W (one unit of MR-RB137-4) 3900 W (three units of MR-RB13V-4)

Protective Functions

Regenerative overvoltage shut-off, overload shut-off (electronic thermal), regenerative error protection, undervoltage protection, instantaneous power failure protection

Compliance to Standards

Refer to "Conformity with Global Standards and Regulations" in User's Guide

Structure

Force cooling, open (IP20) (*2)

Environment

Ambient Temperature

Operation: 0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

Operation/storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight kg

22

Notes:
1. Rated output and speed of a rotary Servo Motor are applicable when the servo amplifier, combined with the rotary Servo Motor, is operated within the specified power supply voltage and frequency.
2. Terminal blocks are excluded.

MR-J4W2-B (2-Axis, SSCNET III/H Interface) Specifications (200V)

Servo Amplifier Model MR-J4W2-

22B

44B

77B

1010B

Stocked Item

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

Rated Current (Each Axis) (A)

1.5

2.8

5.8

6.0

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase or 1-phase 200 VAC to 240 VAC, 50/60 Hz

3-phase 200 VAC to 240 VAC, 50/60 Hz

Rated Current (A) (*25)

2.9

5.2

7.5

9.8

Permissible Voltage Fluctuation

3-phase or 1-phase 170 VAC to 264 VAC

3-phase 170 VAC to 264 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

Rated Current (A)

0.4

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

55

Interface Power Supply

24 VDC ±10% (required current capacity: 0.35 A (including CN8 connector signals))

Control Method

Sine-wave PWM control/current control method

Capacitor

Regeneration

Reusable Regeneration Energy (J) (W) (*19)

17

21

44

Moment of Inertia (J) Equivalent to Permissible Charging Amount (× 10-4 kg•m²) (*20)

3.45

4.26

8.92

Mass Equivalent to Permissible Charging Amount (kg) (*21)

LM-H3

3.8

4.7

9.8

LM-K2
LM-U2

8.5

10.5

22.0

Tolerable Regenerative Power of the Built-in Regenerative Resistor (*2, *3) (W)

20

100

Dynamic Brake

Built-in (*4)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B-phase pulse)

Analog Monitor

None

Fully Closed Loop Control (*24)

Available (*9)

Load-Side Encoder Interface (*22)

Mitsubishi high-speed serial communication

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function, scale measurement function (*14), J3 compatibility mode

Safety Function

STO (IEC/EN 61800-5-2) (*23)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF — energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Average Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Close Mounting

Possible

Environment

Ambient Temperature

0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

90%RH maximum (non-condensing), storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.5

1.5

2.0

2.0

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4W2-0303B6 (2-Axis, SSCNET III/H Interface) Specifications

Servo Amplifier Model

MR-J4W2-0303B6

Stocked Item

S

Output

Rated Voltage

3-phase 13 VAC

Rated Current (Each Axis) (A)

2.4

Main Circuit Power Supply

Voltage (*1)

48 V DC/24 VDC (*39)

Rated Current (A)

For 48 VDC: 2.4 A; For 24 VDC: 4.8 A

Permissible Voltage Fluctuation

For 48 VDC: 40.8 VDC to 55.2 VDC; For 24 VDC: 21.6 VDC to 26.4 VDC

Control Circuit Power Supply

Voltage

24 VDC

Rated Current (A)

0.5

Permissible Voltage Fluctuation

21.6 VDC to 26.4 VDC

Power Consumption (W)

10

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.25 A)

Control Method

Sine-wave PWM control/current control method

Capacitor

Regeneration

Reusable Regeneration Energy (J) (W) (*19)

0.9

Moment of Inertia (J) Equivalent to Permissible Charging Amount (× 10-4 kg•m²) (*20)

0.18

Permissible Regenerative Power of the Built-in Regenerative Resistor (W)

1.3

Dynamic Brake

Built-in (*4, *40)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms, 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B-phase pulse)

Analog Monitor

2 channels

Fully Closed Loop Control

Not compatible

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, vibration tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function,
J3 compatibility mode

Compliance to Standards

Refer to "Conformity with Global Standards and Regulations" in the Instruction Manual

Structure (IP Rating)

Natural cooling, open (IP20)

Close Mounting

Possible (*6)

Environment

Ambient Temperature

Operation: 0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient Humidity

Operation/storage: 90 %RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/sat 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

0.3

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4W3-B (3-Axis, SSCNET III/H Interface) Specifications (200V)

Servo Amplifier Model MR-J4W3-

222B

444B

Stocked Item

S

S

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

1.5

2.8

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase or 1-phase 200 VAC to 240 VAC, 50/60 Hz

Rated Current (A) (*25)

4.3

7.8

Permissible Voltage Fluctuation

3-phase or 1-phase 170 VAC to 264 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

Rated Current (A)

0.4

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

55

Interface Power Supply

24 VDC ±10% (required current capacity: 0.45 A (including CN8 connector signals))

Capacitor

Regeneration

Reusable Regenerative Energy (J) (*19)

21

30

Moment of inertia (J) Equivalent to Permissible Charging Amount (× 10-4 kg•m²) (*20)

4.26

6.08

Mass Equivalent to Permissible Charging Amount (kg) (*21)

LM-H3

4.7

6.7

LM-K2 LM-U2

10.5

15.0

Tolerable Regenerative Power of the Built-in Regenerative Resistor (*2, *3) (W)

30

Control Method

Sine-wave PWM control/current control method

Dynamic Brake

Built-in (*4)

SSCNET III/H Command Communication Cycle (*10)

0.222 ms (*26) , 0.444 ms, 0.888 ms

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Not compatible

Analog Monitor

None

Fully Closed Loop Control

Not compatible

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, tightening & press-fit control, machine diagnosis function, power monitoring function,
J3 compatibility mode

Safety Function

STO (IEC/EN 61800-5-2) (*23)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF — energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

LVD: EN 61800-5-1; EMC: EN 61800-3; MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Structure (IP Rating)

Forced cooling, open (IP20)

Close Mounting

Possible

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90%RH maximum (non-condensing), storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.9

1.9

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-A(1)/MR-J4-A(1)-RJ (General-purpose Interface) Specifications (200V/100V)

Servo Amplifier Model MR-J4-_-RJ

10A

20A

40A

60A

70A

100A

200A

350A

500A

700A

11KA

15KA

22KA

10A1

20A1

40A1

Stocked Item

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

S

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

1.1

1.5

2.8

3.2

5.8

6.0

11.0

17.0

28.0

37.0

68.0

87.0

126.0

1.1

1.5

2.8

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase or 1-phase 200VAC to 240VAC, 50/60 Hz

3-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120 VAC, 50 Hz/60 Hz

Rated Current (A) (*14)

0.9

1.5

2.6

3.2 (*8)

3.8

5.0

10.5

16.0

21.7

28.9

46.0

64.0

95.0

3.0

5.0

9.0

Permissible Voltage Fluctuation

3-phase or 1-phase 170 VAC to 264 VAC

3-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

1-phase 100 VAC to 120 VAC,50 Hz/60 Hz

Rated Current (A)

0.2

0.3

0.4

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

1-phase 85 VAC to 132 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

30

Interface Power Supply

24 VDC ±10% (required current capacity: 0.5 A (including CN8 connector signal))

Control Method

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor
(*2, *3) (W)

-

10

10

10

20

20

100

100

130

170

-

-

-

-

10

10

External Regenerative Resistor (Standard Accessory) (*2, 3, 11, 12)

-

-

-

-

-

-

-

-

-

-

500

(800)

850

(1300)

850

(1300)

-

-

-

Dynamic Brake

Built-in (*4)

External option (*13)

Built-in (*4)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible); RS-422: 1 : n communication (up to 32 axes) (*28)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Position

Control

Mode

Maximum Input Pulse Frequency

4 Mpps (when using differential receiver), 200 kpps (when using open-collector)

Positioning Feedback Pulse

Encoder resolution: 22 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Speed

Control

Mode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 VDC to ±10 VDC/rated speed (Speed at 10 V is changeable with [Pr. PC12])

Speed Fluctuation Rate

±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10%)

±0.2% maximum (ambient temperature: 25°C ± 10°C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Torque

Control Mode

Analog Torque Command Input

0 VDC to ±8 VDC/maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 VDC to ± 10 VDC/rated speed)

Fully Closed Loop Control

MR-J4-A(1)

Two-wire type communication method (*9)

MR-J4-A(1)-RJ

Two-wire/four-wire type communication method

Load-Side Encoder

Interface

MR-J4-A(1)

Mitsubishi high-speed serial communication

MR-J4-A(1)-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, super trace control (Note 15), lost motion compensation (*15)

Functional Safety

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF — energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Natural cooling, open (IP20)

Close Mounting

Possible (*6)

Not possible

Possible (*6)

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

0.8

0.8

1.0

1.0

1.4

1.4

2.1

2.3

4.0

6.2

13.4

13.4

18.2

0.8

0.8

1.0

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-DU_A/MR-J4-DU_A-RJ (General-Purpose Interface) Specifications (200V)

Drive Unit Model MR-J4-_(-RJ)

DU30KA

DU37KA

Stocked Item

-

-

Compatible Converter Unit Model

MR-CR55K (*29)

Output

Rated Voltage

3-phase 170 VAC

Rated Current (A)

174

204

Main Circuit Power Supply Input

Main circuit power is supplied from the converter unit to the drive unit (*29)

Control Circuit Power Supply Input

Voltage/Frequency

1-phase 200 VAC to 240 VAC, 50/60 Hz

Rated Current (A)

0.3

Permissible Voltage Fluctuation

1-phase 170 VAC to 264 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

45

Interface Power Supply

24 VDC ±10% (required current capacity: 0.5 A (including CN8 connector signal))

Control Method

Sine-wave PWM control/current control method

Dynamic Brake

External option (*13)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible); RS-422: 1 : n communication (up to 32 axes)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Protective Functions

Overcurrent shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Position Control Mode

Maximum Input Pulse Frequency

4 Mpps (when using differential receiver), 200 kpps (when using open-collector)

Positioning Feedback Pulse

Encoder resolution: 22 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Speed Control Mode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 VDC to ±10 VDC/rated speed (Speed at 10 V is changeable with [Pr. PC12])

Speed Fluctuation Rate

±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10%)

±0.2% maximum (ambient temperature: 25°C ± 10°C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Torque Control Mode

Analog Torque Command Input

0 VDC to ±8 VDC/maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 VDC to ± 10 VDC/rated speed)

Positioning Mode

Point table method, program method, indexer (turret) meth

Fully Closed Loop Control

MR-J4-DU_A

Two-wire type communication method (*9)

MR-J4-DU_A-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-DU_A

Mitsubishi high-speed serial communication

MR-J4-DU_A-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, super trace control, lost motion compensation

Functional Safety

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF — energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

Refer to "Conformity with Global Standards and Regulations" in the User's Manual

Structure (IP Rating)

Force cooling, open (IP20) (*5)

Close Mounting

Not possible

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

21

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-A4/MR-J4-A4-RJ (General-Purpose Interface) Specifications (400V)

Servo Amplifier Model
MR-J4-_(-RJ)

60A4

100A4

200A4

350A4

500A4

700A4

11KA4

15KA4

22KA4

Stocked Item

S

S

S

S

S

S

-

-

-

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

1.5

2.8

5.4

8.6

14.0

17.0

32.0

41.0

63.0

Main Circuit Power Supply

Voltage/Frequency (*1)

3-phase 380VAC to 480VAC, 50/60 Hz

Rated Current (A)

1.4

2.5

5.1

7.9

10.8

14.4

23.1

31.8

47.6

Permissible Voltage Fluctuation

3-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Control Circuit Power Supply

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50/60 Hz

Rated Current (A)

0.1

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

30

45

Interface Power Supply

24 VDC ±10% (required current capacity: 0.5 A (including CN8 connector signal))

Control Method

Sine-wave PWM control/current control method

Tolerable Regenerative Power

Built-in Regenerative Resistor
(*2, *3) (W)

15

15

100

100

130 (*18)

170 (*18)

-

-

-

External Regenerative Resistor (W) (Standard Accessory) (*2, 3, 11, 12)

-

-

-

-

-

-

500

(800)

850

(1300)

850

(1300)

Dynamic Brake

Built-in (*4)

External option (*13)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible); RS-422: 1 : n communication (up to 32 axes)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole detection protection, linear servo control fault protection

Position Control Mode

Maximum Input Pulse Frequency

4 Mpps (when using differential receiver), 200 kpps (when using open-collector)

Positioning Feedback Pulse

Encoder resolution: 22 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Speed Control Mode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 VDC to ±10 VDC/rated speed (Speed at 10 V is changeable with [Pr. PC12])

Speed Fluctuation Rate

±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10%)

±0.2% maximum (ambient temperature: 25°C ± 10°C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC/maximum torque)

Torque Control Mode

Analog Torque Command Input

0 VDC to ±8 VDC/maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 VDC to ± 10 VDC/rated speed)

Fully Closed Loop Control

MR-J4-A4

Two-wire type communication method

MR-J4-A4-RJ

Two-wire/four-wire type communication method

Load-Side Encoder Interface

MR-J4-A4

Mitsubishi high-speed serial communication

MR-J4-A4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, super trace control (*16), lost motion compensation (*16)

Safety Function

STO (IEC/EN 61800-5-2)

Safety Performance

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, EN 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF — energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse frequency: 1 Hz to 25 Hz; Test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DCavg)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 × 10-10 [1/h]

Compliance to Standards

CE: EN 61800-5-1, EN 61800-3, EN ISO 13849-1 Category 3 PL d/EN 61508 SIL 2/ EN 62061 SIL CL 2/EN 61800-5-2 SIL 2; RoHS compliant; UL: UL508C

Structure (IP Rating)

Natural cooling, open (IP20)

Force cooling, open (IP20)

Force cooling, open (IP20) (*5)

Close Mounting

Not Possible

Environment

Ambient Temperature

0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

90% RH maximum (non-condensing), storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

1.7

1.7

2.1

3.6

4.3

6.5

13.4

13.4

18.2

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-DU_A4/MR-J4-DU_A4-RJ (General-Purpose Interface) Specifications (400 V)

Model Number MR-J4-_(-RJ)

DU30KA4

DU37KA4

DU45KA4

DU55KA4

Stocked Item

-

-

-

-

Compatible Converter Unit Model

MR-CR55K4 (*29)

Output

Rated Voltage

3-phase 323 VAC

Rated Current (A)

87

102

131

143

Main Circuit Power Supply Input

Main circuit power is supplied from the converter unit to the drive unit (*29)

Control Circuit Power Supply Input

Voltage/Frequency

1-phase 380 VAC to 480 VAC, 50 Hz/60 Hz

Rated Current (A)

0.2

Permissible Voltage Fluctuation

1-phase 323 VAC to 528 VAC

Permissible Frequency Fluctuation

±5% maximum

Power Consumption (W)

45

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.5 A (including CN8 connector signals))

Control Method

Sine-wave PWM control/current control method

Dynamic Brake

External option (*13)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

Position Control Mode

Maximum Input Pulse Frequency

4 Mpulses/s (when using differential receiver), 200 kpulses/s (when using open collector)

Positioning Feedback Pulse

Encoder resolution: 22 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)

Speed Control Mode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 V DC to ±10 V DC/rated speed (Speed at 10 V is changeable with [Pr. PC12].)

Speed Fluctuation Rate

±0.01% maximum (load fluctuation 0% to 100%), 0% (power fluctuation: ±10% )±0.2% maximum (ambient temperature: 25 °C ± 10 °C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 V DC/maximum torque)

Torque Control Mode

Analog Torque Command Input

0 VDC to ±8 V DC/maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 V DC to ± 10 V DC/rated speed)

Fully Closed Loop Control

MR-J4-DU_A4

Two-wire type communication method

MR-J4-DU_A4-RJ

Two-wire/four-wire type communication method

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, tough drive function, drive recorder function, machine diagnosis function, power monitoring function, super trace control, lost motion compensation

Load-Side Encoder Interface

MR-J4-DU_A4

Mitsubishi high-speed serial communication

MR-J4-DU_A4-RJ

Mitsubishi high-speed serial communication, A/B/Z-phase differential input signal

Protective Functions

Overcurrent shut-off, overload shut-off (electronic thermal), Servo Motor overheat protection, encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Functional Safety

STO (IEC/EN 61800-5-2)

Safety

Standards Certified by CB

EN ISO 13849-1 Category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, EN 61800-5-2 SIL 2

Response Performance

8 ms or less (STO input OFF – energy shut-off)

Test Pulse Input (STO) (*7)

Test pulse interval: 1 Hz to 25 Hz, test pulse off time: 1 ms maximum

Mean Time to Dangerous Failure (MTTFd)

100 years or longer

Diagnostic Coverage (DC)

Medium (90% to 99%)

Probability of Dangerous Failure Per Hour (PFH)

1.68 x 10-10 [1/h]

Compliance To Standards

Refer to "Conformity with Global Standards and Regulations" in the User's Manual

Structure (IP Rating)

Force cooling, open (IP20) (*5)

Close Mounting

Not possible

Environment

Ambient Temperature

Operation: 0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

Operation/storage: 90%RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

16

19

Note: MR-J4 Amplifier notes are shown at the bottom of page.


MR-J4-03A6-RJ (General-Purpose Interface) Specifications

Servo Amplifier Model

MR-J4-03A6-RJ

Stocked Item

S

Output

Rated Voltage

3-phase 13 VAC

Rated Current (Each Axis) (A)

2.4

Main Circuit Power Supply

Input

Voltage (*1)

48 VDC/24 VDC (*39)

Rated Current (A)

For 48 VDC: 1.2 A; For 24 VDC: 2.4 A

Permissible Voltage Fluctuation

For 48 VDC: 40.8 VDC to 55.2 VDC; For 24 VDC: 21.6 VDC to 26.4 VDC

Control Circuit Power Supply Input

Voltage

24 VDC

Rated Current (A)

0.2

Permissible Voltage Fluctuation

21.6 VDC to 26.4 VDC

Power Consumption (W)

5.0

Interface Power Supply

24 VDC ± 10% (required current capacity: 0.3 A)

Control Method

Sine-wave PWM control/current control method

Permissible Regenerative Power of the Built-in Regenerative Resistor (W)

0.7

Dynamic Brake

Built-in (*4, *40)

Communication Function

USB: Connect a personal computer (MR Configurator2 compatible); RS-422: 1 : n communication (up to 32 axes)

Encoder Output Pulse

Compatible (A/B/Z-phase pulse)

Analog Monitor

2 channels

PositionControl Mode

Maximum Input Pulse Frequency

4 Mpulses/s (when using differential receiver), 200 kpulses/s (when using open collector)

Positioning Feedback Pulse

Encoder resolution: 18 bits

Command Pulse Multiplying Factor

Electronic gear A/B multiple, A: 1 to 16777215, B: 1 to 16777215, 1/10 < A/B < 4000

Positioning Complete Width Setting

0 pulse to ±65535 pulses (command pulse unit)

Error Excessive

±3 rotations

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC / maximum torque)

Speed Control

Mode

Speed Control Range

Analog speed command 1:2000, internal speed command 1:5000

Analog Speed Command Input

0 VDC to ±10 VDC / rated speed (Speed at 10 V is changeable with [Pr. PC12])

Speed Fluctuation Rate

±0.01% maximum (load fluctuation: 0% to 100%), 0% (power fluctuation: ±10%) ±0.2% maximum (ambient temperature: 25°C ± 10°C) only when using analog speed command

Torque Limit

Set by parameters or external analog input (0 VDC to +10 VDC / maximum torque)

Torque Control Mode

Analog Torque Command Input

0 VDC to ±8 VDC / maximum torque (input impedance: 10 kΩ to 12 kΩ)

Speed Limit

Set by parameters or external analog input (0 VDC to ± 10 VDC / rated speed)

Positioning Mode

Point table method, program method, indexer (turret) method

Fully Closed Loop Control

Not compatible

Protective Functions

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, error excessive protection

Servo Function

Advanced vibration suppression control II, adaptive filter II, robust filter, auto tuning, one-touch tuning, vibration tough drive function, drive recorder function, machine diagnosis function, power monitoring function

Compliance to Standards

Refer to "Conformity with Global Standards and Regulations" in the Instruction Manual

Structure (IP Rating)

Natural cooling, open (IP20)

Close Mounting

Possible (*6)

DIN Rail Mounting (35 mm Wide)

Possible

Environment

Ambient Temperature

Operation: 0°C to 55°C (non-freezing), storage: -20°C to 65°C (non-freezing)

Ambient Humidity

Operation/storage: 90% RH maximum (non-condensing)

Ambience

Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude

1000 m or less above sea level

Vibration Resistance

5.9 m/s² at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Weight (kg)

0.2

Amplifier Notes:
1. Rated output and speed of a rotary Servo Motor and a direct drive motor; and continuous thrust and maximum speed of a linear Servo Motor are applicable when the servo amplifier, combined with the Servo Motor, is operated within the specified power supply voltage and frequency.
2. Select the most suitable regenerative option for your system with our capacity selection software.
3. Refer to "Regenerative Option" in this guide for the tolerable regenerative power [W] when regenerative option is used.
4. When using the built-in dynamic brake, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual", MR-J4-_GF_(RJ) Servo Amplifier Instruction Manual (Motion Mode) or MR-J4W2-_B MR-J4W3-_B MR-J4W2-0303B6 Servo Amplifier Instruction Manual for the permissible load to motor inertia ratio and the permissible load to mass ratio and details.
5. Terminal blocks are excluded.
6. When the servo amplifiers are closely mounted, keep the ambient temperature within 0 °C to 45 °C, or use them with 75% or less of the effective load ratio.
7. The test pulse is a signal for the external circuit to perform self-diagnosis by turning off the signals to the servo amplifier instantaneously at regular intervals.
8. The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
9. Fully closed loop control is compatible with the servo amplifiers with software version A3 or later.
10. The command communication cycle depends on the controller specifications and the number of axes connected.
11. The value in brackets is applicable when cooling fans (2 units of 92 mm x 92 mm, minimum air flow: 1.0 m3/min) are installed, and then [Pr. PA02]
is changed.
12. Servo amplifiers without an enclosed regenerative resistor are also available. Refer to "1-Axis Servo Amplifier Model Designation" in this catalog for details.
13. Use an optional external dynamic brake with the servo amplifier. Without the external dynamic brake, a Servo Motor does not stop immediately at emergency stop and falls in free-run status, causing an accident such as machine collision, etc. Take measures to ensure safety on the entire system when not using the dynamic brake.
14. This function is available with the servo amplifiers with software version A8 or later.
15. This value is applicable for 750 W or smaller servo amplifiers in 200 V class when a 3-phase power supply is used.
16. This function is available with the servo amplifiers with software version B4 or later.
17. One unit of converter.
18. The servo amplifier built-in regenerative resistor is compatible with the maximum torque deceleration when the Servo Motor is used within the rated speed and the recommended load to motor inertia ratio. Contact your local sales office if the operating motor speed or the load to motor inertia ratio exceed the rated speed or the recommended ratio.
19. Reusable regenerative energy is equivalent to the energy generated under the following conditions. For rotary Servo Motor: the energy that is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the rated speed to a stop. For linear Servo Motor: the energy that is generated when the machine, whose mass is equivalent to the permissible charging amount, decelerates from the maximum speed to a stop. For direct drive motor: the energy that is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the rated speed to a stop.
20. This value is the moment of inertia when the rotary Servo Motor decelerates from the rated speed to a stop. When two axes are simultaneously decelerated, the permissible charging amount is equivalent to the total moments of inertia of the two axes. Otherwise, the permissible charging amount is equivalent to the moment of inertia of each axis. The value also applies to the direct drive motor.
21. This value is the mass when the linear Servo Motor decelerates from maximum speed to a stop. Mass of primary side (coil) is included. When two axes are simultaneously decelerated, the permissible charging amount is equivalent to the total masses of the two axes. Otherwise, the permissible charging amount is equivalent to the mass of each axis.<
22. Not compatible with pulse train interface (A/B/Z-phase differential output type).
23. STO is common for all axes.
24. The load-side encoder and the Servo Motor encoder are compatible only with two-wire type communication method.
25. This value is applicable when a 3-phase power supply is used.
26. Servo amplifier with software version A3 or later is compatible with the command communication cycle of 0.222 ms. However, note that the following functions are not available when 0.222 ms is used: auto tuning (real time, one-touch, and vibration suppression control), adaptive filter II, vibration tough drive, and power monitoring.
27. The value is applicable for the MR-J4-_B-RJ010 servo amplifier only.
28. RS-422 communication is compatible with the servo amplifiers with software version A3 or later.
29. One unit of converter unit is required for each drive unit. Refer to the Users's Manual for the specifications of the converter unit.
30. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
31. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.
32. For the connection example of the power circuit when a DC input is used, refer to the User's Manual.
33. Follow the restrictions in the User's Manual when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m over sea level.
34. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in the User's Manual.
35. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.
36. Use the servo amplifier with 75% or less of the effective load ratio when a 1-phase 200 VAC to 240 VAC power supply is used.
37. Refer to relevant Servo Amplifier Instruction Manual for the restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level.
38. MR-J4-_GF-RJ servo amplifiers are available for DC power input. For a connection example of power circuit with DC input, refer to relevant Servo Amplifier Instruction Manual.
39. Initial value is 48 VDC. For 24 VDC, set [Pr. PC05] to "_ 1 _ _." Servo motor characteristics vary depending whether the voltage is 48 VDC or 24 VDC. Refer to "HG-AK Series (Ultra-compact Size, Ultra-small Capacity) Specifications" and "HG-AK Series Torque Characteristics" in the User's Manual.
40. The dynamic brake is electronic. The electronic dynamic brake does not operate when the control circuit power is off. It may not operate depending on alarms and warnings. Refer to "MR-J4W2-_B MR-J4W3-_B MR-J4W2-0303B6 Servo Amplifier Instruction Manual" for details.